JP2018021351A - Construction management system, working machine and construction management method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a construction management system which suppresses the elongation of a construction period, and can perform high-accuracy construction.SOLUTION: A construction management system comprises: a display control part for making a display device display two-dimensional data which are parallel with a reference face regulated at a construction object, and working machine display data indicating at least a part of a working machine which can excavate the construction object; an input excavation depth data acquisition part for acquiring input excavation depth data which are created by an operation of an input device; and a working machine control part for outputting a control signal for controlling the movement of the working machine with respect to a depth direction of the construction object which is orthogonal to the reference face on the basis of input excavation depth data.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a construction management system, a work machine, and a construction management method.

  2. Description of the Related Art There is known a technique for controlling a work machine in preference to operation of an operation device by a work machine operator based on a target shape to be constructed. In the present specification, controlling the work machine in preference to the operation of the operating device by the operator of the work machine is referred to as intervention control.

International Publication No. 2014/167718

  When construction is performed in the foundation work at a construction site, an operator often performs an operation of marking a reference of an excavation position and an operation of confirming an excavation depth. In this case, a large number of workers and a great deal of labor are required. When 3D design data to be constructed is created and construction is performed by intervention control, the number of workers is reduced. However, the creation of three-dimensional design data requires a great deal of labor and a long creation period. Therefore, there may be a delay in the start time of construction. In addition, when a design change occurs at a construction site, it is necessary to recreate the three-dimensional design data. In this case as well, the construction may be delayed and the construction period may be prolonged.

  An aspect of the present invention aims to provide a construction management system, a work machine, and a construction management method capable of suppressing the lengthening of the construction period and performing highly accurate construction.

  According to the first aspect of the present invention, the display device displays two-dimensional design data parallel to the reference plane defined for the construction object and work machine display data indicating at least a part of the work machine capable of excavating the construction object. A display control unit to be displayed, an input excavation depth data acquisition unit that acquires input excavation depth data generated by operating the input device, and the reference plane based on the input excavation depth data There is provided a construction management system comprising: a work machine control unit that outputs a control signal for controlling movement of the work machine in a depth direction of the construction target that is orthogonal.

  According to the 2nd aspect of this invention, a working machine provided with the construction management system of a 1st aspect is provided.

  According to the third aspect of the present invention, the display device displays two-dimensional design data parallel to the reference plane defined for the construction object and work machine display data indicating at least a part of the work machine capable of excavating the construction object. The input excavation depth data generated by operating the input device, and the depth of the construction object orthogonal to the reference plane based on the input excavation depth data Outputting a control signal for controlling the movement of the work implement with respect to a direction.

  ADVANTAGE OF THE INVENTION According to the aspect of this invention, the construction management system, work machine, and construction management method which can implement construction with high precision, suppressing the prolongation of a construction period are provided.

FIG. 1 is a diagram schematically illustrating an example of a construction management system according to the present embodiment. FIG. 2 is a perspective view illustrating an example of a work machine according to the present embodiment. FIG. 3 is a side view schematically showing an example of the work machine according to the present embodiment. FIG. 4 is a rear view schematically showing an example of the work machine according to the present embodiment. FIG. 5 is a plan view schematically showing an example of the work machine according to the present embodiment. FIG. 6 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment. FIG. 7 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment. FIG. 8 is a functional block diagram illustrating an example of a control system according to the present embodiment. FIG. 9 is a diagram schematically illustrating an example of a construction site constructed by the work machine according to the present embodiment. FIG. 10 is a flowchart illustrating an example of the construction management method according to the present embodiment. FIG. 11 is a diagram schematically illustrating an example of a display device according to the present embodiment. FIG. 12 is a flowchart illustrating an example of a method for creating two-dimensional design data according to the present embodiment.

  Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be combined as appropriate. Some components may not be used.

  In the following description, a three-dimensional global coordinate system (Xg, Yg, Zg) and a three-dimensional vehicle body coordinate system (Xm, Ym, Zm) will be defined and the positional relationship of each part will be described.

  The global coordinate system is a coordinate system based on the origin fixed on the earth. The global coordinate system is a coordinate system defined by GNSS (Global Navigation Satellite System). GNSS refers to the global navigation satellite system. An example of the global navigation satellite system is a GPS (Global Positioning System). The GNSS has a plurality of positioning satellites. The GNSS detects a position defined by latitude, longitude, and altitude coordinate data.

  The global coordinate system is defined by the Xg axis in the horizontal plane, the Yg axis orthogonal to the Xg axis in the horizontal plane, and the Zg axis orthogonal to the Xg axis and the Yg axis. The direction parallel to the Xg axis is the Xg axis direction, the direction parallel to the Yg axis is the Yg axis direction, and the direction parallel to the Zg axis is the Zg axis direction. Also, the rotation or tilt direction about the Xg axis is the θXg direction, the rotation or tilt direction about the Yg axis is the θYg direction, and the rotation or tilt direction about the Zg axis is the θZg direction. The Zg axis direction is the vertical direction.

  The vehicle body coordinate system is a coordinate system based on the origin fixed to the work machine.

  The vehicle body coordinate system is defined by an Xm axis extending in one direction with respect to the origin fixed to the vehicle body of the work machine, a Ym axis orthogonal to the Xm axis, and a Zm axis orthogonal to the Xm axis and the Ym axis. The The direction parallel to the Xm axis is the Xm axis direction, the direction parallel to the Ym axis is the Ym axis direction, and the direction parallel to the Zm axis is the Zm axis direction. Further, the rotation or tilt direction around the Xm axis is taken as the θXm direction, the rotation or tilt direction around the Ym axis is taken as the θYm direction, and the rotation or tilt direction around the Zm axis is taken as the θZm direction. The Xm-axis direction is the longitudinal direction of the work machine, the Ym-axis direction is the vehicle width direction of the work machine, and the Zm-axis direction is the vertical direction of the work machine.

First embodiment.
[Construction management system]
FIG. 1 is a diagram schematically illustrating an example of a construction management system 1000 according to the present embodiment. The construction management system 1000 includes a server 2000 and executes a construction plan and construction management for the construction site 3000. At the construction site 3000, the work machine 100 operates. In the present embodiment, the construction site 3000 includes a building site for building a building.

  Server 2000 includes a computer system. Server 2000 is capable of data communication with work machine 100 at construction site 3000 and information terminal 4100 installed at construction company 4000. Server 2000, work machine 100 at construction site 3000, and information terminal 4100 at construction company 4000 can communicate data via communication line 5000. The communication line 5000 includes at least one of the Internet, a mobile phone communication network, and a local area network.

  The information terminal 4100 of the construction company 4000 includes, for example, a personal computer. In the construction company 4000, a design drawing of the construction site 3000 is created. An operator of the construction company 4000 creates a design drawing using the information terminal 4100. The design drawing data indicating the design drawing created in the construction company 4000 is transmitted to the server 2000 via the communication line 5000.

[Work machine]
FIG. 2 is a perspective view illustrating an example of the work machine 100 according to the present embodiment. In the present embodiment, an example in which the work machine 100 is a hydraulic excavator will be described. In the following description, the work machine 100 is appropriately referred to as a hydraulic excavator 100.

  As shown in FIG. 2, the excavator 100 includes a work machine 1 that is operated by hydraulic pressure, a vehicle body 2 that supports the work machine 1, a traveling device 3 that supports the vehicle body 2, and an operation for operating the work machine 1. The apparatus 40 and the control apparatus 50 which controls the working machine 1 are provided. The vehicle body 2 can turn around the turning axis RX while being supported by the traveling device 3. The vehicle body 2 is disposed on the traveling device 3. In the following description, the vehicle body 2 is appropriately referred to as the upper swing body 2, and the traveling device 3 is appropriately referred to as the lower traveling body 3.

  The upper swing body 2 includes a driver's cab 4 in which a driver is boarded, a machine room 5 in which an engine and a hydraulic pump are accommodated, and a handrail 6. The cab 4 has a driver's seat 4S on which the driver is seated. The machine room 5 is disposed behind the cab 4. The handrail 6 is disposed in front of the machine room 5.

  The lower traveling body 3 has a pair of crawler belts 7. The excavator 100 travels as the crawler belt 7 rotates. The lower traveling body 3 may have wheels or tires.

  The work machine 1 can excavate a construction target. The work machine 1 is supported by the upper swing body 2. The work machine 1 includes a bucket 11 having a cutting edge 10, an arm 12 connected to the bucket 11, and a boom 13 connected to the arm 12. The cutting edge 10 of the bucket 11 may be the tip of a convex blade provided on the bucket 11. The blade tip 10 of the bucket 11 may be the tip of a straight blade provided in the bucket 11.

  Bucket 11 and arm 12 are connected via a bucket pin. The bucket 11 is supported by the arm 12 so as to be rotatable about the rotation axis AX1. The arm 12 and the boom 13 are connected via an arm pin. The arm 12 is supported by the boom 13 so as to be rotatable about the rotation axis AX2. The boom 13 and the upper swing body 2 are connected via a boom pin. The boom 13 is supported by the vehicle body 2 so as to be rotatable about the rotation axis AX3.

  The rotation axis AX1, the rotation axis AX2, and the rotation axis AX3 are parallel to each other. The rotation axes AX1, AX2, AX3 are orthogonal to the axis parallel to the turning axis RX. The Ym axis of the vehicle body coordinate system is parallel to the rotation axes AX1, AX2, AX3. The Xm axis of the vehicle body coordinate system is orthogonal to both the rotation axes AX1, AX2, AX3 and the turning axis RX. The Zm axis of the vehicle body coordinate system is parallel to the turning axis RX. The direction in which the work implement 1 is present is based on the driver seated on the driver's seat 4S.

  The bucket 11 may be a tilt bucket. A tilt bucket is a bucket that can be tilted in the vehicle width direction by operation of a bucket tilt cylinder. When the excavator 100 operates on an inclined ground, the bucket 11 can be tilted or tilted in the vehicle width direction to freely shape or level the slope or flat ground.

  The operating device 40 is disposed in the cab 4. The operation device 40 includes an operation member operated by a driver of the excavator 100. The operation member includes an operation lever or a joystick. The work implement 1 is operated by operating the operation member.

  The control device 50 includes a computer system. The control device 50 includes a processor such as a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an input / output interface device.

  FIG. 3 is a side view schematically showing the excavator 100 according to the present embodiment. FIG. 4 is a rear view schematically showing the excavator 100 according to the present embodiment. FIG. 5 is a plan view schematically showing the excavator 100 according to the present embodiment.

  As shown in FIGS. 2 and 3, the excavator 100 includes a hydraulic cylinder 20 that drives the work machine 1. The hydraulic cylinder 20 is driven by hydraulic oil. The hydraulic cylinder 20 includes a bucket cylinder 21 that drives the bucket 11, an arm cylinder 22 that drives the arm 12, and a boom cylinder 23 that drives the boom 13.

  As shown in FIG. 3, the excavator 100 includes a bucket cylinder stroke sensor 14 disposed in the bucket cylinder 21, an arm cylinder stroke sensor 15 disposed in the arm cylinder 22, and a boom cylinder stroke disposed in the boom cylinder 23. Sensor 16. The bucket cylinder stroke sensor 14 detects the bucket cylinder length that is the stroke length of the bucket cylinder 21. The arm cylinder stroke sensor 15 detects an arm cylinder length which is a stroke length of the arm cylinder 22. The boom cylinder stroke sensor 16 detects the boom cylinder length that is the stroke length of the boom cylinder 23.

  In the present embodiment, the position of the upper swing body 2 defined by the global coordinate system is detected. Further, the position of the bucket 11 defined by the vehicle body coordinate system and the position of the bucket 11 defined by the global coordinate system are detected.

  In the present embodiment, the origin of the vehicle body coordinate system is defined by the upper swing body 2. The origin of the vehicle body coordinate system is, for example, the center of the swing circle of the upper swing body 2. The center of the swing circle exists on the swing axis RX of the upper swing body 2. The Zm axis of the vehicle body coordinate system coincides with the turning axis RX of the upper turning body 2. The Xm axis direction is the front-rear direction of the upper swing body 2. The Ym axis direction is the vehicle width direction of the upper swing body 2. The Zm-axis direction is the vertical direction of the upper swing body 2.

  As shown in FIGS. 3, 4, and 5, the excavator 100 includes a position detection device 30 that detects the position of the upper swing body 2. The position detection device 30 includes a vehicle body position detector 31 that detects the position of the upper swing body 2 defined by the global coordinate system, an attitude detector 32 that detects the attitude of the upper swing body 2, and the orientation of the upper swing body 2. And an orientation detector 33 for detecting.

  The vehicle body position detector 31 includes a GPS receiver. The vehicle body position detector 31 detects the three-dimensional position of the upper swing body 2 defined by the global coordinate system. The vehicle body position detector 31 detects coordinate data in the Xg-axis direction, coordinate data in the Yg-axis direction, and coordinate data in the Zg-axis direction of the upper swing body 2.

  A plurality of GPS antennas 31 </ b> A are provided on the upper swing body 2. The GPS antenna 31 </ b> A is provided on the handrail 6 of the upper swing body 2. Note that the GPS antenna 31 </ b> A may be disposed on a counterweight disposed behind the machine room 5. The GPS antenna 31 </ b> A receives a radio wave from a GPS satellite and outputs a signal based on the received radio wave to the vehicle body position detector 31. The vehicle body position detector 31 detects the absolute position of the GPS antenna 31A defined by the global coordinate system based on the signal supplied from the GPS antenna 31A. The vehicle body position detector 31 detects the absolute position of the upper swing body 2 based on the absolute position of the GPS antenna 31A.

  Two GPS antennas 31A are provided in the vehicle width direction. The vehicle body position detector 31 detects the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A. The vehicle body position detector 31A performs arithmetic processing based on the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A, and detects the absolute position and direction of the upper swing body 2. In the present embodiment, the absolute position of the upper swing body 2 is the absolute position of one GPS antenna 31A. The absolute position of the upper swing body 2 may be the absolute position of the other GPS antenna 31A, or may be a position between the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A.

  The attitude detector 32 includes an inertial measurement unit (Inertial Unit: IMU). The attitude detector 32 is provided on the upper swing body 2. The attitude detector 32 is disposed below the cab 4. The attitude detector 32 detects the inclination angle of the upper swing body 2 with respect to the horizontal plane (XgYg plane). The tilt angle of the upper swing body 2 with respect to the horizontal plane is determined by the roll angle θa indicating the tilt angle of the upper swing body 2 in the Ym axis direction (vehicle width direction) and the tilt angle of the upper swing body 2 in the Xm axis direction (front-rear direction). Pitch angle θb shown.

  The azimuth detector 33 detects the azimuth of the upper swing body 2 with respect to a reference azimuth defined in the global coordinate system based on the absolute position of one GPS antenna 31A and the absolute position of the other GPS antenna 31A. The reference orientation is, for example, north. The direction detector 33 performs arithmetic processing based on the absolute position of the one GPS antenna 31A and the absolute position of the other GPS antenna 31A, and detects the direction of the upper swing body 2 with respect to the reference direction. The azimuth detector 33 calculates a straight line connecting the absolute position of the one GPS antenna 31A and the absolute position of the other GPS antenna 31A, and based on the angle formed by the calculated straight line and the reference azimuth, turns upward with respect to the reference azimuth. The orientation of the body 2 is detected. The azimuth of the upper swing body 2 with respect to the reference azimuth includes a yaw angle (azimuth angle) θc indicating an angle formed by the reference azimuth and the azimuth of the upper swing body 2.

  The orientation detector 33 may be a device different from the position detection device 30. The orientation detector 33 may detect the orientation of the upper swing body 2 using a magnetic sensor.

  The excavator 100 includes a work implement position detector 34 that detects the position of the work implement 1 in the vehicle body coordinate system. The work machine position detector 34 detects the relative position of the blade edge 10 of the bucket 11 with respect to the origin of the upper swing body 2 in the vehicle body coordinate system.

  In the present embodiment, the work machine position detector 34 includes a detection result of the bucket cylinder stroke sensor 14, a detection result of the arm cylinder stroke sensor 15, a detection result of the boom cylinder stroke sensor 16, and a length L 1 of the bucket 11. Based on the length L2 of the arm 12 and the length L3 of the boom 13, the relative position of the cutting edge 10 of the bucket 11 with respect to the origin of the upper swing body 2 is calculated.

  The work machine position detector 34 calculates the inclination angle α of the blade edge 10 of the bucket 11 with respect to the arm 12 based on the bucket cylinder length detected by the bucket cylinder stroke sensor 14. The work machine position detector 34 calculates the inclination angle β of the arm 12 with respect to the boom 13 based on the arm cylinder length detected by the arm cylinder stroke sensor 15. The work machine position detector 34 calculates the inclination angle γ of the boom 13 with respect to the Z axis of the upper swing body 2 based on the boom cylinder length detected by the boom cylinder stroke sensor 16.

  The length L1 of the bucket 11 is the distance between the blade edge 10 of the bucket 11 and the rotation axis AX1 (bucket pin). The length L2 of the arm 12 is a distance between the rotation axis AX1 (bucket pin) and the rotation axis AX2 (arm pin). The length L3 of the boom 13 is a distance between the rotation axis AX2 (arm pin) and the rotation axis AX3 (boom pin).

  The work machine position detector 34 is based on the inclination angle α, the inclination angle β, the inclination angle γ, the length L1, the length L2, and the length L3, relative to the origin of the upper swing body 2 of the cutting edge 10 of the bucket 11. Calculate the position.

  The work machine position detector 34 detects the position of the work machine 11 in the global coordinate system. The work machine position detector 34 detects the position of the blade edge 10 of the bucket 11 in the global coordinate system. The blade edge detector 34 is based on the absolute position of the upper swing body 2 detected by the position detection device 30 and the relative position between the origin of the upper swing body 2 and the blade edge 10 of the bucket 11. Calculate the absolute position. The relative position between the absolute position of the upper swing body 2 and the origin of the upper swing body 2 is known data derived from the specification data of the excavator 100. Therefore, the work implement position detector 34 is based on the absolute position of the upper swing body 2, the relative position between the origin of the upper swing body 2 and the blade tip 10 of the bucket 11, and the specification data of the excavator 100. The absolute position of the eleven cutting edges 10 can be calculated.

  The work machine position detector 34 may include an angle sensor such as a potentiometer inclinometer. The angle sensor may detect the inclination angle α of the bucket 11, the inclination angle β of the arm 12, and the inclination angle γ of the boom 13.

[Intervention control]
In the present embodiment, the control device 50 performs intervention control for controlling the work machine 1 with priority over the operation of the operation device 40 by the driver of the excavator 100. The control device 50 performs intervention control of the work machine 1 by PI control (proportional-integral control), for example. In the intervention control, the position of the bucket 11 is controlled.

  By operating the operating device 40, the dumping operation of the bucket 11, the excavating operation of the bucket 11, the dumping operation of the arm 12, the excavating operation of the arm 12, the raising operation of the boom 13, and the lowering operation of the boom 13 are executed. .

  In the present embodiment, the operation device 40 includes a right operation lever disposed on the right side of the driver seated on the driver's seat 4S and a left operation lever disposed on the left side. When the right operation lever is moved in the front-rear direction, the boom 13 performs a lowering operation and a raising operation. When the right operation lever is moved in the left-right direction (vehicle width direction), the bucket 11 performs excavation operation and dump operation. When the left operating lever is moved in the front-rear direction, the arm 12 performs a dumping operation and an excavating operation. When the left operating lever is moved in the left-right direction, the upper swing body 2 turns left and right. Even if the upper swing body 2 turns right and left when the left operation lever is moved in the front-rear direction, and the arm 12 performs dumping operation and excavation operation when the left operation lever is moved left and right. Good.

  In the intervention control, the bucket 11 and the arm 12 are driven based on the operation of the operation device 40 by the driver. The boom 13 is driven based on at least one of the operation of the operation device 40 by the driver and the control by the control device 50.

  When excavating a construction target, the bucket 11 and the arm 12 are excavated. The control device 50 performs control to intervene in the movement of the boom 10 so that the blade edge 10 of the bucket 11 is disposed at the target position in a state where the bucket 11 and the arm 12 are excavated by operation of the operation device 40. . For example, the control device 50 controls the boom cylinder 23 so that the boom 13 moves up while the bucket 11 and the arm 12 are excavated.

[Hydraulic system]
Next, an example of the hydraulic system 300 according to the present embodiment will be described. The hydraulic cylinder 20 including the bucket cylinder 21, the arm cylinder 22, and the boom cylinder 23 is operated by a hydraulic system 300. The hydraulic cylinder 20 is operated by the operating device 40.

  In the present embodiment, the operating device 40 is a pilot pressure type operating device. In the following description, the oil supplied to the hydraulic cylinder 20 for operating the hydraulic cylinder 20 (the bucket cylinder 21, the arm cylinder 22, and the boom cylinder 23) is appropriately referred to as hydraulic oil. The direction control valve 41 adjusts the amount of hydraulic oil supplied to the hydraulic cylinder 20. The direction control valve 41 is operated by the supplied oil. In the following description, the oil supplied to the direction control valve 41 for operating the direction control valve 41 is appropriately referred to as pilot oil. The pressure of the pilot oil is appropriately referred to as pilot pressure.

  FIG. 6 is a schematic diagram illustrating an example of a hydraulic system 300 that operates the arm cylinder 22. The operation of the operation device 40 causes the arm 12 to perform two types of operations, an excavation operation and a dump operation. When the arm cylinder 22 is extended, the arm 12 is excavated, and when the arm cylinder 22 is contracted, the arm 12 is dumped.

  The hydraulic system 300 includes a variable displacement main hydraulic pump 42 that supplies hydraulic oil to the arm cylinder 22 via the direction control valve 41, a pilot pressure pump 43 that supplies pilot oil, and a pilot pressure for the direction control valve 41. An operating device 40 to be adjusted, oil passages 44A and 44B through which pilot oil flows, pressure sensors 46A and 46B disposed in the oil passages 44A and 44B, and a control device 50 are provided. The main hydraulic pump 42 is driven by a prime mover such as an engine (not shown).

  The direction control valve 41 controls the direction in which the hydraulic oil flows. The hydraulic oil supplied from the main hydraulic pump 42 is supplied to the arm cylinder 22 via the direction control valve 41. The direction control valve 41 is a spool system that moves the rod-shaped spool to switch the direction in which the hydraulic oil flows. When the spool moves in the axial direction, the supply of hydraulic oil to the cap side oil chamber 20A (oil passage 47A) of the arm cylinder 22 and the supply of hydraulic oil to the rod side oil chamber 20B (oil passage 47B) are switched. The cap side oil chamber 20A is a space between the cylinder head cover and the piston. The rod side oil chamber 20B is a space in which the piston rod is disposed. Further, the supply amount of hydraulic oil (supply amount per unit time) to the arm cylinder 22 is adjusted by moving the spool in the axial direction. The cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied to the arm cylinder 22.

  The direction control valve 41 is operated by the operating device 40. Pilot oil delivered from the pilot pressure pump 43 is supplied to the operating device 40. Note that pilot oil sent from the main hydraulic pump 42 and decompressed by the pressure reducing valve may be supplied to the operating device 40. The operating device 40 includes a pilot pressure adjustment valve. The pilot pressure is adjusted based on the operation amount of the operating device 40. The direction control valve 41 is driven by the pilot pressure. By adjusting the pilot pressure by the operating device 40, the moving amount and moving speed of the spool in the axial direction are adjusted.

  The direction control valve 41 has a first pressure receiving chamber and a second pressure receiving chamber. The spool is driven by the pilot pressure in the oil passage 44A, the first pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the first pressure receiving chamber. The spool is driven by the pilot pressure in the oil passage 44B, the second pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the second pressure receiving chamber.

  The pressure sensor 46A detects the pilot pressure in the oil passage 44A. The pressure sensor 46B detects the pilot pressure in the oil passage 44B. Detection signals from the pressure sensors 46A and 46B are output to the control device 50.

  When the operating lever of the operating device 40 is moved to one side from the neutral position, the pilot pressure corresponding to the operating amount of the operating lever acts on the first pressure receiving chamber of the spool of the direction control valve 41. When the operating lever of the operating device 40 is moved from the neutral position to the other side, the pilot pressure corresponding to the operating amount of the operating lever acts on the second pressure receiving chamber of the spool of the direction control valve 41.

  The spool of the directional control valve 41 moves by a distance corresponding to the pilot pressure adjusted by the operating device 40. For example, when the pilot pressure acts on the first pressure receiving chamber, hydraulic oil from the main hydraulic pump 42 is supplied to the cap-side oil chamber 20A of the arm cylinder 22 and the arm cylinder 22 extends. When the arm cylinder 22 is extended, the arm 12 is excavated. When the pilot pressure acts on the second pressure receiving chamber, the hydraulic oil from the main hydraulic pump 42 is supplied to the rod side oil chamber 20B of the arm cylinder 22 and the arm cylinder 22 is contracted. When the arm cylinder 22 contracts, the arm 12 performs a dumping operation. Based on the amount of movement of the spool of the direction control valve 41, the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump 42 to the arm cylinder 22 via the direction control valve 41 is adjusted. The cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied per unit time.

  The hydraulic system 300 that operates the bucket cylinder 21 has the same configuration as the hydraulic system 300 that operates the arm cylinder 22. By the operation of the operation device 40, the bucket 11 performs two types of operations, an excavation operation and a dump operation. When the bucket cylinder 21 extends, the bucket 11 excavates, and when the bucket cylinder 21 contracts, the bucket 11 dumps. A detailed description of the hydraulic system 300 that operates the bucket cylinder 21 will be omitted.

  FIG. 7 is a schematic diagram illustrating an example of a hydraulic system 300 that operates the boom cylinder 23. By operating the operating device 40, the boom 13 performs two types of operations, a raising operation and a lowering operation. The direction control valve 41 has a first pressure receiving chamber and a second pressure receiving chamber. The spool is driven by the pilot pressure in the oil passage 44A, the first pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the first pressure receiving chamber. The spool is driven by the pilot pressure in the oil passage 44B, the second pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the second pressure receiving chamber. The hydraulic oil supplied from the main hydraulic pump 42 is supplied to the boom cylinder 23 via the direction control valve 41. When the spool of the direction control valve 41 moves in the axial direction, hydraulic oil is supplied to the cap side oil chamber 20A (oil passage 47B) of the boom cylinder 23 and hydraulic oil is supplied to the rod side oil chamber 20B (oil passage 47A). Supply is switched. When the hydraulic oil is supplied to the first pressure receiving chamber, the hydraulic oil is supplied to the rod-side oil chamber 20B via the oil passage 47A and the boom cylinder 13 is contracted, so that the boom 13 is lowered. When hydraulic oil is supplied to the second pressure receiving chamber, the hydraulic oil is supplied to the cap-side oil chamber 20A via the oil passage 47B, and the boom cylinder 13 extends, whereby the boom 13 is raised.

  As shown in FIG. 7, the hydraulic system 300 that operates the boom cylinder 23 includes a main hydraulic pump 42, a pilot pressure pump 43, a direction control valve 41, and an operating device 40 that adjusts the pilot pressure for the direction control valve 41. The oil passages 44A, 44B, 44C through which the pilot oil flows, the control valves 45A, 45B, 45C disposed in the oil passages 44A, 44B, 44C, and the pressure sensors 46A, 46B disposed in the oil passages 44A, 44B, 44C. And a control device 50 for controlling the control valves 45A, 45B, 45C.

  The control valves 45A, 45B, and 45C are electromagnetic proportional control valves. The control valves 45A, 45B, 45C adjust the pilot pressure based on the control signal from the control device 50. The control valve 45A adjusts the pilot pressure in the oil passage 44A. The control valve 45B adjusts the pilot pressure in the oil passage 44B. The control valve 45C adjusts the pilot pressure in the oil passage 44C.

  As described with reference to FIG. 6, when the operating device 40 is operated, the pilot pressure corresponding to the operation amount of the operating device 40 acts on the directional control valve 41. The spool of the direction control valve 41 moves according to the pilot pressure. Based on the amount of movement of the spool, the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump 42 to the boom cylinder 23 via the direction control valve 41 is adjusted.

  The control device 50 can control the control valve 45A to reduce the pilot pressure acting on the first pressure receiving chamber. The control device 50 can control the control valve 45B to reduce the pilot pressure acting on the second pressure receiving chamber. In the example shown in FIG. 7, pilot oil supplied to the direction control valve 41 is limited by reducing the pilot pressure adjusted by the operation of the operating device 40 by the control valve 45A. When the pilot pressure acting on the direction control valve 41 is reduced by the control valve 45A, the lowering operation of the boom 13 is limited. Similarly, the pilot pressure adjusted by the operation of the operating device 40 is reduced by the control valve 45B, so that the pilot oil supplied to the direction control valve 41 is limited. When the pilot pressure acting on the direction control valve 41 is reduced by the control valve 45B, the raising operation of the boom 13 is limited. The control device 50 controls the control valve 45A based on the detection signal of the pressure sensor 46A. The control device 50 controls the control valve 45B based on the detection signal of the pressure sensor 46B.

  In the present embodiment, for the intervention control, a control valve 45C that operates based on a control signal for intervention control output from the control device 50 is provided in the oil passage 44C. The pilot oil sent from the pilot pressure pump 43 flows through the oil passage 44C. The oil passage 44 </ b> C and the oil passage 44 </ b> B are connected to the shuttle valve 48. The shuttle valve 48 supplies the directional control valve 41 with pilot oil in the oil passage having the higher pilot pressure in the oil passage 44B and the oil passage 44C.

  The control valve 45C is controlled based on a control signal output from the control device 50 in order to execute intervention control.

  When the intervention control is not executed, the control device 50 does not output a control signal to the control valve 45C so that the directional control valve 41 is driven based on the pilot pressure adjusted by the operation of the operation device 40. For example, the control device 50 fully opens the control valve 45B and closes the oil passage 44C with the control valve 45C so that the direction control valve 41 is driven based on the pilot pressure adjusted by the operation of the operation device 40. .

  When executing the intervention control, the control device 50 outputs a control signal to the control valves 45B and 45C so that the direction control valve 41 is driven based on the pilot pressure adjusted by the control valve 45C. For example, when executing the intervention control for restricting the movement of the boom 13, the control device 50 outputs a control signal to the control valve 45C so as to obtain a pilot pressure corresponding to the boom target speed. For example, the control device 50 outputs a control signal to the control valve 45C so that the pilot pressure adjusted by the control valve 45C is higher than the pilot pressure adjusted by the operating device 40. When the pilot pressure in the oil passage 44C becomes larger than the pilot pressure in the oil passage 44B, the pilot oil from the control valve 45C is supplied to the direction control valve 41 via the shuttle valve 48.

  By supplying pilot oil to the direction control valve 41 via at least one of the oil passage 44B and the oil passage 44C, hydraulic oil is supplied to the cap-side oil chamber 20A via the oil passage 47B. Thereby, the boom cylinder 23 extends and the boom 13 is raised.

  When the operation amount of the boom 13 by the operating device 40 is large so that the blade edge 10 of the bucket 11 does not dig the target excavation landform, the intervention control is not executed. The operating device 40 is operated such that the boom 13 is raised at a speed higher than the boom target speed, and the pilot pressure is adjusted based on the operation amount, whereby the pilot pressure adjusted by the operation of the operating device 40 is adjusted. Becomes higher than the pilot pressure adjusted by the control valve 45C. As a result, the pilot oil of the pilot pressure adjusted by the operation of the control valve 45C of the control device 50 is selected by the shuttle valve 48 and supplied to the direction control valve 41. When the pilot pressure based on the control signal output from the control device 50 to the control valve 45C is smaller than the pilot pressure based on the boom operation amount, the pilot oil adjusted by the operation of the operation device 40 is selected by the shuttle valve 48. The boom 13 is operated.

[Control system]
Next, the control system 200 of the excavator 100 according to the present embodiment will be described. FIG. 8 is a functional block diagram illustrating an example of the control system 200 according to the present embodiment.

  As shown in FIG. 8, the control system 200 includes a control device 50 that controls the work machine 1, a position detection device 30, a work machine position detector 34, a control valve 45 (45A, 45B, 45C), a pressure A sensor 46 (46A, 46B), a display device 71, and an input device 72 are provided.

  As described above, the position detection device 30 including the vehicle body position detector 31, the attitude detector 32, and the azimuth detector 33 detects the absolute position of the upper swing body 2. In the following description, the absolute position of the upper swing body 2 is appropriately referred to as a vehicle body position.

  The control valve 45 (45A, 45B, 45C) adjusts the amount of hydraulic oil supplied to the hydraulic cylinder 20. The control valve 45 operates based on a control signal from the control device 50. The pressure sensor 46 (46A, 46B) detects the pilot pressure of the oil passage 44 (44A, 44B). A detection signal of the pressure sensor 46 is output to the control device 50.

  The display device 71 is disposed in the cab 4. The display device 71 includes a flat panel display such as a liquid crystal display (LCD) or an organic EL display (OELD). The display device 71 displays display data based on the control signal output from the control device 50. The driver of the cab 4 can visually recognize the display screen of the display device 71.

  The input device 72 is disposed in the cab 4. The input device 72 includes, for example, at least one of a keyboard for a computer, a mouse, and a touch panel. A driver in the cab 4 can operate the input device 72. Input data generated by operating the input device 72 is supplied to the control device 50.

  As described above, the excavator 100 and the server 2000 can perform data communication via the communication line 5000. The control device 50 can perform data communication with the server 2000 via the communication line 5000. In this embodiment, the server 2000 and the control device 50 perform data communication wirelessly.

  Note that the server 2000 and the control device 50 may be connected by wire, and the two-dimensional design data may be transmitted from the server 2000 to the control device 50. The control device 50 has a reading device that can read data recorded in a recording medium such as a flash memory, and the data generated by the server 2000 is supplied to the control device 50 via the recording medium. Good.

  The control device 50 includes a vehicle body position data acquisition unit 51, a work implement position data acquisition unit 52, a two-dimensional design data acquisition unit 53, an input excavation depth data acquisition unit 54, a display control unit 55, and a work implement control. A unit 56, a storage unit 57, and an input / output unit 58.

  The processor of the control device 50 includes a vehicle body position data acquisition unit 51, a work machine position data acquisition unit 52, a two-dimensional design data acquisition unit 53, an input excavation depth data acquisition unit 54, a display control unit 55, and a work machine control unit 56. including. The storage device of the control device 50 includes a storage unit 57. The input / output interface device of the control device 50 includes an input / output unit 58.

  The vehicle body position data acquisition unit 51 acquires vehicle body position data indicating the absolute position of the upper-part turning body 2 in the global coordinate system from the position detection device 30 via the input / output unit 58.

  The work machine position data acquisition unit 52 receives the work machine position data indicating the position of the work machine 1 in the vehicle body coordinate system and the work machine 1 in the global coordinate system from the work machine position detector 34 via the input / output unit 58. Work machine position data indicating the position is acquired.

  The work machine position data acquisition unit 52 receives, as work machine position data, the relative position of the cutting edge 10 of the bucket 11 with respect to the origin of the upper swing body 2 in the vehicle body coordinate system from the work machine position detector 34 via the input / output unit 58. Get the data. Further, the work machine position data acquisition unit 52 acquires the relative position data of the blade edge 10 of the bucket 11 in the global coordinate system from the work machine position detector 34 via the input / output unit 58 as the work machine position data.

  The two-dimensional design data acquisition unit 53 acquires the two-dimensional design data of the construction target 3000 from the server 2000 via the input / output unit 58. In the present embodiment, the server 2000 creates two-dimensional design data. The two-dimensional design data is design data parallel to the reference plane FL defined as the construction target of the construction site 3000.

  The input excavation depth data acquisition unit 54 acquires input excavation depth data generated by operating the input device 72 from the input device 72 via the input / output unit 58.

  The display control unit 55 displays on the display device 71 two-dimensional design data parallel to the reference plane FL defined for the construction target and work implement display data indicating at least a part of the work implement 1 capable of excavating the construction target. Let In the present embodiment, the display control unit 55 causes the display device 71 to display target excavation depth data from the reference plane FL.

  Based on the input excavation depth data acquired by the input excavation depth data acquisition unit 54, the work implement control unit 56 performs intervention control on the movement of the work implement 1 in the depth direction of the construction target orthogonal to the reference plane FL. A control signal to be output to the control valve 45. The work implement control unit 56 calculates a boom target speed based on the distance between the cutting edge 10 and the target depth surface of the construction target defined by the input excavation depth data, and the boom based on the calculated boom target speed. The boom cylinder 23 which drives 13 is controlled.

  The storage unit 57 stores specification data of the excavator 100.

[Construction to be performed]
FIG. 9 is a diagram schematically showing an example of a construction site 3000 constructed by the excavator 100 according to the present embodiment. In the first embodiment, the construction target OBP of the excavator 100 is the ground of a building site where a building is built. The excavator 100 performs foundation work on a construction site.

  In a building site of a building, a reference plane FL parallel to the horizontal plane is defined. The reference plane FL is often defined, for example, as a floor level, which is called a floor level, of a building after construction.

  In the present embodiment, the reference surface FL and the excavation depth ΔDP from the reference surface FL are defined. The excavator 100 excavates the construction target OBP by the excavation depth ΔDP.

  In the present embodiment, the work machine control unit 56 performs intervention control of the movement of the work machine 1 in the depth direction of the construction target. That is, the work implement control unit 56 performs intervention control of the work implement 1 so that the cutting edge 10 of the bucket 11 does not move below the excavation depth ΔDP from the reference plane FL. Thereby, it is suppressed that construction object OBP is dug up too much.

  On the other hand, the movement of the work machine 1 in the horizontal direction is not subjected to intervention control. The work machine 1 moves in the horizontal direction parallel to the reference plane FL by the operation of the operation device 40 by the driver. The driver operates the operating device 40 to turn the upper swing body 2, expand / contract the work implement 1, or run the lower run body 3 to move the bucket 11 of the work implement 1 to the reference plane. It can move in the horizontal direction parallel to FL.

  That is, in the present embodiment, the movement of the bucket 11 in the depth direction orthogonal to the reference plane FL is subjected to intervention control, and the movement of the bucket 11 in the horizontal direction parallel to the reference plane FL is not subjected to intervention control. In other words, the intervention control of the work machine 1 is performed for the excavation depth orthogonal to the reference plane FL, but the intervention control of the work machine 1 is not performed for the excavation range parallel to the reference plane FL.

[Construction management method]
Next, an example of the construction management method according to the present embodiment will be described. FIG. 10 is a flowchart illustrating an example of the construction management method according to the present embodiment.

  In the present embodiment, the construction management method includes a step of creating two-dimensional design data parallel to the reference plane FL defined as a construction target (step S100) and a step of uploading the two-dimensional design data to the hydraulic excavator 1 (step). S200), a step of setting the reference plane FL at the construction site 3000 (step S300), a step of acquiring work implement position data indicating the position of the work implement 1 including the blade edge 10 of the bucket 11 (step S400), and construction Display device for two-dimensional design data parallel to the reference plane FL defined for the target, work implement display data indicating at least a part of the work implement 1 capable of excavating the construction target, and target excavation depth data from the reference plane FL 71 (step S500) to be displayed, and input excavation depth data generated by operating the input device 72 is acquired. Based on the process (step S600) and the input excavation depth data, a process for executing the construction by outputting a control signal for intervention control of the movement of the work implement 1 in the depth direction of the construction target orthogonal to the reference plane FL (Step S700).

(Step S100: Creation of two-dimensional design data)
A process for creating two-dimensional design data will be described. The design drawing data indicating the design drawing created in the construction company 4000 is supplied to the server 2000. Further, at the construction site 3000, the position of the reference point to be constructed in the site coordinate system is measured. The position of the reference point is written on the design drawing, and the operator measures the position of the reference point in the three-dimensional field coordinate system.

  A plurality of reference points are defined so as to surround the construction object. In the present embodiment, there are four reference points so as to surround the construction target. In addition, the reference point should just exist in at least 3 places.

  After the site coordinate system is defined by measurement of the reference point, a process for associating the site coordinate system with the global coordinate system is performed. As described above, the position detection device 30 detects the position of the excavator 100 in the global coordinate system. The relative position between the design drawing and the excavator 100 is defined by associating the on-site coordinate system with the global coordinate system.

  The server 2000 creates two-dimensional design data by editing the design drawing data. In many cases, many drawings, symbols, letters, and numbers are described in a design drawing. For example, the server 2000 simplifies the design drawing data so that the driver of the excavator 100 can easily see, and creates two-dimensional design data that is simplified design drawing data. In addition, the server 2000 converts the design drawing data into a file format that can be read by the control device 50 of the excavator 100 to create two-dimensional design data.

  The server 2000 creates two-dimensional design data including guide data defining the excavation range and target excavation depth data indicating the target excavation depth from the reference plane FL. In the present embodiment, the guide data that defines the excavation range is a guideline GL. The target excavation depth data indicating the target excavation depth from the reference plane FL is numerical data of the target excavation depth.

(Step S200: Upload of 2D design data)
After the two-dimensional design data is created, the two-dimensional design data is transmitted from the server 2000 to the excavator 100. The two-dimensional design data acquisition unit 53 of the control device 50 of the excavator 100 acquires two-dimensional design data.

(Step S300: Setting of reference plane)
Prior to the start of construction, a reference plane FL is defined. The construction site 3000 is provided with a reference member indicating the reference surface FL, or a display indicating the reference surface FL. The driver of the excavator 100 operates the operation device 40 to bring the blade edge 10 of the bucket 11 into contact with the reference member or the like. The work machine position detector 34 can detect the absolute position of the blade edge 10 of the bucket 11. The work machine position data acquisition unit 52 acquires position data of the blade edge 10 of the bucket 11 brought into contact with a reference member or the like. The work machine control unit 56 acquires position data in the Zg axis direction of the reference plane FL in the global coordinate system. Position data in the height direction of the reference plane FL in the global coordinate system is stored in the storage unit 57.

  The position data of the reference plane FL may be stored in the storage unit 57 by the operation of the input device 72 by the driver. For example, the driver may select data from points registered in the existing construction data, and operate the input device 72 to input the position data of the reference plane FL.

(Step S400: Acquisition of work equipment position data)
The work machine position data acquisition unit 52 acquires work machine position data from the work machine position detector 34. Based on the work machine position data, an indicator 10D to be described later is created.

(Step S500: Display)
The display control unit 55 includes two-dimensional design data parallel to the reference plane FL specified for the construction target, work implement display data indicating at least a part of the work implement 1 capable of excavating the construction target, and the reference plane FL. The target excavation depth data is displayed on the display device 71.

  FIG. 11 is a diagram schematically illustrating an example of the display device 71 according to the present embodiment. As shown in FIG. 11, the display control unit 55 causes the display device 71 to display a guideline GL that is guide data for defining an excavation range by the work implement 1 as two-dimensional design data. In addition, the display control unit 55 causes the display device 71 to display an indicator 10D indicating the cutting edge 10 of the bucket 11 of the work machine 1 as the work machine display data. Further, the display control unit 5 displays numerical data indicating the target excavation depth as the target excavation depth data. In the example shown in FIG. 11, “IFL-2100” is displayed as numerical data indicating the target excavation depth in the first excavation range, and “IFL-2700” is displayed as numerical data indicating the target excavation depth in the second excavation range. Is displayed. “IFL-2100” indicates that excavation should be performed in the depth direction by 2100 [mm] from the reference plane FL in the first excavation range. “IFL-2700” indicates that excavation should be performed in the depth direction by 2700 [mm] from the reference plane FL in the second excavation range.

  As shown in FIG. 11, the display control unit 55 causes the display device 71 to simultaneously display two-dimensional design data and work implement display data at the same scale in the same coordinate system.

(Step S600: Acquisition of input excavation depth data)
When excavating the first excavation range using the work machine 1, the driver operates the input device 72 to input the excavation depth in the first excavation range. When the operator excavates the first excavation range using the work machine 1, the driver looks at the numerical value “−2100” displayed on the display device 71, operates the input device 72, and operates “−2100”. Enter a number.

  Input excavation depth data generated by operating the input device 72 is acquired by the input excavation depth data acquisition unit 54. In the present embodiment, the work implement control unit 56 is based on the input excavation depth data acquired by the input excavation depth data acquisition unit 54, and the work implement 1 in the depth direction of the construction target orthogonal to the reference plane FL. A control signal for intervening control of movement is output to the control valve 45.

  Note that the driver may input the same numerical value as the numerical value indicating the target excavation depth displayed on the display device 71 to the input device 72, or the target excavation depth displayed on the display device 71. A numerical value different from the numerical value shown may be input to the input device 72. When the same numerical value as the numerical value indicating the target excavation depth displayed on the display device 71 is input to the input device 72, intervention control is performed based on the excavation depth indicated in the original design drawing data. Is done. When the numerical value different from the numerical value indicating the target excavation depth displayed on the display device 71 is input to the input device 72, the excavation depth indicated in the original design drawing data is finely adjusted by the driver. The intervention control is performed based on the finely adjusted excavation depth.

(Step S700: Construction)
Construction for the first excavation area is started. The driver adjusts the position of the bucket 11 in the horizontal direction parallel to the reference plane FL by operating the operating device 40 while viewing the guideline GL and the indicator 10D displayed on the display device 71. On the display device 71, an indicator 10D indicating two-dimensional design data and work implement display data is simultaneously displayed at the same scale in the same coordinate system. Therefore, the driver can operate the operating device 40 so that the bucket 11 is positioned in the first excavation range to be excavated while looking at the guideline GL and the indicator 10D displayed on the display device 71.

  After the bucket 11 is positioned in the first excavation range in the horizontal direction, the driver operates the operation device 40 to move the bucket 11 in the depth direction, and starts excavation in the first excavation range. In the present embodiment, based on the input excavation depth data generated by operating the input device 72, the movement of the bucket 11 in the depth direction of the construction target orthogonal to the reference plane FL is subjected to intervention control. . The work machine control unit 56 prevents the cutting edge 10 of the bucket 11 from moving below the excavation depth input via the input device 72, that is, the bucket 11 exceeds the excavation depth input via the input device 72. Outputs a control signal to the control valve 45 so that the construction object is not dug.

  In the present embodiment, the reference plane FL is set in step S300, and after the reference plane FL is set, the input device 72 is operated to specify the excavation depth. Therefore, the work implement control unit 56 can control the work implement 1 so that the bucket 11 does not dig the work object more than the input excavation depth based on the set reference plane FL and the input excavation depth data. it can.

  The position of the bucket 11 in the horizontal direction is adjusted by the operation of the operation device 40 by the driver. The driver can operate the operating device 40 so that the indicator 10D is aligned with the guide line GL in the horizontal direction while viewing the guide line GL and the indicator 10D displayed on the display device 71.

  The example in which the first construction range is constructed has been described above. Construction in the second construction range is performed in the same manner as construction in the first construction range.

[Action and effect]
As described above, according to the present embodiment, the two-dimensional design data of the construction target is created, and the construction of the construction target is performed based on the two-dimensional design data. The creation period of the two-dimensional design data is sufficiently shorter than the creation period of the three-dimensional design data. Therefore, the delay of the construction start time is suppressed. Further, even if a design change occurs at the construction site 3000 and it becomes necessary to recreate the two-dimensional design data, the construction period of the two-dimensional design data is short, so that the construction delay is suppressed. Therefore, lengthening of the construction period is suppressed.

  Moreover, in this embodiment, the working machine control part 56 performs intervention control of the movement of the working machine 1 in the depth direction of construction object based on input excavation depth data. Therefore, the excavator 100 can perform highly accurate construction in the depth direction.

  Moreover, in this embodiment, intervention control is implemented based on the input excavation depth data by a driver | operator's manual input. Therefore, when the driver wants to perform intervention control based on the excavation depth specified in the original design drawing data, the input device 72 inputs the same numerical value as the numerical value indicating the target excavation depth displayed on the display device 71. You can enter in On the other hand, when the driver wants to finely adjust the excavation depth for intervention control, the driver can input a numerical value different from the numerical value indicating the target excavation depth displayed on the display device 71 to the input device 72.

  Further, in the present embodiment, the display control unit 55 includes two-dimensional design data parallel to the reference plane FL defined as a construction target, and an indicator 10D that is work implement display data indicating the cutting edge 10 of the work implement 1. The target excavation depth data is displayed on the display device 71 provided in the cab 4 of the excavator 100. Therefore, the driver of the hydraulic excavator 100 can specify the construction range to be excavated in the construction target based on the two-dimensional design data displayed on the display device 71 and the indicator 10D. Further, the driver of the hydraulic excavator 100 operates the operating device 40 based on the two-dimensional design data displayed on the display device 71 and the indicator 10D to position the cutting edge 10 of the bucket 11 in the construction range to be excavated. be able to.

  In addition, the driver of the excavator 100 operates the input device 72 based on the target excavation depth data displayed on the display device 71 to input an input excavation depth indicating a target value for intervention control in the depth direction. Data can be entered. By manually inputting the target value for intervention control in the depth direction, complication of the two-dimensional design data is suppressed, and the burden of data processing in the control device 50 is suppressed. For example, when two-dimensional design data including a target value for intervention control in the depth direction is created, the two-dimensional design data is complicated and the effect of shortening the creation period of the two-dimensional design data is reduced. Further, when intervention control is performed based on complicated two-dimensional design data, the burden of data processing in the control device 50 increases. In the present embodiment, since the input excavation depth data indicating a target value for intervention control in the depth direction is manually input by the driver via the input device 72, the two-dimensional design data is complicated and the control device is provided. The intervention control of the work machine 1 in the depth direction can be performed while the burden of data processing at 50 is suppressed. Further, in the present embodiment, when a slight design change occurs with respect to the digging depth, it is possible to cope with the design change only by re-inputting the input digging depth data via the input device 72.

  Further, in the present embodiment, the work machine 1 moves in a direction parallel to the reference plane FL by the operation of the operation device 40 by the driver of the excavator 100. That is, in the present embodiment, the intervention control of the work machine 1 is performed for the excavation depth, but the intervention control of the work machine 1 is not performed for the excavation range. Thereby, the freedom degree of construction in a horizontal direction is secured. Further, since intervention control is performed for the excavation depth and no intervention control is performed for the excavation range, the control burden on the control device 50 is reduced.

  In a construction site, high accuracy is required for the excavation depth, but the accuracy required for the excavation range is often relatively low. For example, although the concrete thickness for the foundation of the building requires high accuracy, the concrete range is acceptable even if it is slightly wider than the range specified in the original design drawing. Moreover, in a construction site, the excavation range is often finely adjusted by the driver. In the present embodiment, intervention control is performed for the excavation depth, and intervention control is not performed for the excavation range. Therefore, the construction according to the requirements of the construction site is performed while reducing the control burden on the control device 50. be able to.

  In the present embodiment, the display control unit 55 causes the display device 71 to simultaneously display the two-dimensional design data and the work implement display data in the same global coordinate system. Therefore, the driver of the excavator 100 can intuitively grasp the relative position between the excavation range to be excavated and the work implement 1 and can smoothly perform excavation work by the work implement 1.

  In the present embodiment, the two-dimensional design data includes a guideline GL that is guide data for defining a construction range, and the display control unit 55 causes the display device 71 to display the guideline GL. Therefore, the driver of the excavator 100 can position the cutting edge 10 of the bucket 11 in the construction range to be excavated by operating the operating device 40 while viewing the guideline GL displayed on the display device 71.

Second embodiment.
A second embodiment will be described. In the following description, the same or equivalent components as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.

  In the present embodiment, a modified example of the creation of the above-described two-dimensional design data (step S100) will be described.

  In the above-described embodiment, in step S100, the four reference points provided in the construction site 3000 are measured, and the site coordinate system and the global coordinate system are associated with each other.

  In a construction site, there are cases where four reference points are not provided. In particular, in a narrow construction site, there are many cases where four reference points are not provided.

  In this embodiment, when there is no reference point in the construction site 3000, a process of associating the site coordinate system with the global coordinate system based on the Japanese plane rectangular coordinate system and the geoid file will be described.

  The plane Cartesian coordinate system is a plane Cartesian coordinate system established for surveying Japan. The plane rectangular coordinate system is determined in advance. The plane rectangular coordinate system data indicated by the plane rectangular coordinate system indicates latitude and longitude. The Ministry of Land, Infrastructure, Transport and Tourism has released the latitude and longitude that indicate the origin in Japan's plane Cartesian coordinate system. There are 19 origins in Japan.

  A geoid is a surface that is perpendicular to the direction of gravity at a certain point on the earth and that matches the average level surface at sea. The geoid file is determined in advance. The geoid data indicated by the geoid file indicates altitude. Due to the influence of geomagnetism, rotation of the earth, and the shape of the earth, the position of the origin of the plane Cartesian coordinate system in the Zg-axis direction shifts, or an error in the position in the Zg-axis direction occurs according to latitude and longitude. There is a possibility that detection data in the Zg axis direction of the receiver includes an error. In the present embodiment, the work machine position data acquisition unit 52 corrects the work machine position data acquired from the work machine position detector 34 based on the planar rectangular coordinate system data and the geoid data.

  FIG. 12 is a flowchart illustrating an example of a method for creating two-dimensional design data according to the present embodiment.

  Data indicating the origin closest to the construction site 3000 among the 19 origins disclosed by the Ministry of Land, Infrastructure, Transport and Tourism is input to the control device 50 of the excavator 100. The work machine position data acquisition unit 53 acquires planar rectangular coordinate system data (step S110).

  The geoid file is input to the control device 50 of the excavator 100. The work machine position data acquisition unit 53 determines the latitude and longitude of the origin of the plane rectangular coordinate system acquired in step S110 out of the plurality of geoid data for each of the plurality of latitudes and longitudes included in the geoid file. Geoid data is acquired (step S120).

  The work machine position data acquisition unit 52 acquires the work machine position data from the work machine position detector 34. The work implement position data acquisition unit 52 includes the ZG axis direction of the work implement position data acquired from the work implement position detector 34 based on the plane rectangular coordinate system data acquired in step S110 and the geoid data acquired in step S120. The data is corrected (step S130).

  Next, an association between the field coordinate system and the global coordinate system is performed. The position of two reference points of the construction target corresponding to at least two reference points defined in the design drawing of the construction target is detected using the work machine 1. The driver operates the operating device 40 to bring the blade edge 10 of the bucket 11 into contact with each of the two reference points to be constructed. Thereby, the positions of at least two reference points of the construction target in the global coordinate system are detected using the work machine 1. The position data of at least two reference points of the construction target detected using the blade edge 10 of the bucket 11 is acquired by the work machine position data acquisition unit 52. Position data of at least two reference points to be constructed is transmitted to the server 2000.

  Based on the positions of at least two reference points of the construction target detected using the work machine 1 and the positions of at least two reference points of the design drawing of the construction target, the server 2000 uses the global coordinate system and the site. Associate with a coordinate system. The server 2000 has a two-dimensional design so that the positions of at least two reference points of the construction target detected using the work machine 1 coincide with the positions of at least two reference points of the design drawing of the construction target. Adjust the scale of the data. Thereby, the two-dimensional design data displayed on the display device 71, which is associated with the global coordinate system and whose scale is adjusted, is generated (step S140).

  As described above, two-dimensional design data is created. The created two-dimensional design data is uploaded from the server 2000 to the excavator 100. Subsequent processing is the same as Step S200 to Step S700 described in the above embodiment.

Other embodiments.
In the above-described embodiment, the server 2000 may have a part or all of the functions of the control device 50 of the excavator 100. That is, the server 2000 includes a vehicle body position data acquisition unit 51, a work machine position data acquisition unit 52, a two-dimensional design data acquisition unit 53, an input excavation depth data acquisition unit 54, a display control unit 55, a work machine control unit 56, and a storage. At least one of the unit 57 and the input / output unit 58 may be included. For example, the vehicle body position data detected by the position detection device 30 and the work machine position data detected by the work machine position detector 34 are supplied to the server 2000 via the communication line 5000, and the vehicle body position provided in the server 2000 is provided. The data acquisition unit 51 and the work machine position data acquisition unit 52 may acquire the vehicle body position data and the work machine position data. The display control unit 55 provided in the server 2000 generates display data including the two-dimensional design data, the indicator 10D, and the target excavation depth data, and the generated display data is hydraulically transmitted via the communication line 5000. You may transmit to the display apparatus 71 of the shovel 100. FIG. Further, the input excavation depth data generated by operating the input device 72 of the excavator 100 by the driver is supplied to the server 2000 via the communication line 5000, and the input excavation depth provided in the server 2000 is provided. The data acquisition unit 54 may acquire input excavation depth data. Further, the work machine control unit 56 provided in the server 2000 generates a control signal for performing intervention control of the work machine 1 based on the input excavation depth data, and the generated control signal via the communication line 5000. May be transmitted to the control valve 45 of the excavator 100.

  In the above-described embodiment, the operating device 40 is a pilot pressure type operating device. The operating device 40 may be an electric system.

  In the above-described embodiment, the operating device 40 is provided in the excavator 100. The operating device 40 may be provided in a remote place away from the excavator 100, and the excavator 100 may be remotely operated. When the work machine 1 is remotely operated, a control signal for operating the work machine 1 is wirelessly transmitted to the excavator 100 from an operation device 40 provided at a remote place.

  In the above-described embodiment, the work machine 100 is a hydraulic excavator. The construction management system 1000 described in the above embodiment is applicable to all work machines having a work machine such as a bulldozer or a wheel loader.

  DESCRIPTION OF SYMBOLS 1 Work implement, 2 Car body (upper turning body), 3 traveling device (lower traveling body), 4 driver's room, 4S driver's seat, 5 machine room, 6 handrail, 7 crawler belt, 10 cutting edge, 10D indicator, 11 bucket, 12 arm , 13 Boom, 14 Bucket cylinder stroke sensor, 15 Arm cylinder stroke sensor, 16 Boom cylinder stroke sensor, 20 Hydraulic cylinder, 20A Cap side oil chamber, 20B Rod side oil chamber, 21 Bucket cylinder, 22 Arm cylinder, 23 Boom cylinder, 30 position detector, 31 vehicle body position detector, 31A GPS antenna, 32 attitude detector, 33 azimuth detector, 34 work implement position detector, 40 operation device, 41 directional control valve, 42 main hydraulic pump, 43 pilot pressure pump 44A, 44B, 44C Oil 45A, 45B, 45C Control valve, 46A, 46B Pressure sensor, 47A, 47B Oil passage, 48 Shuttle valve, 50 Control device, 51 Car body position data acquisition unit, 52 Work machine position data acquisition unit, 53 Two-dimensional design data acquisition Unit, 54 input depth data acquisition unit, 55 display control unit, 56 work machine control unit, 57 storage unit, 58 input / output unit, 71 display device, 72 input device, 100 hydraulic excavator (work machine), 200 control system, 300 hydraulic system, 1000 construction management system, 2000 server, 3000 construction site, 4000 construction company, 4100 information terminal, 5000 communication line, AX1 rotation axis, AX2 rotation axis, AX3 rotation axis, FL reference plane, GL guidelines, L1 length , L2 length, L3 length, RX swivel axis, α tilt angle, β tilt Angle, γ tilt angle.

Claims (8)

A display controller that displays on a display device two-dimensional design data parallel to a reference plane defined for the construction target and work implement display data indicating at least a part of the work implement capable of excavating the construction target;
An input excavation depth data acquisition unit for acquiring input excavation depth data generated by operating the input device;
Based on the input excavation depth data, a work implement control unit that outputs a control signal for controlling the movement of the work implement in the depth direction of the construction target orthogonal to the reference plane;
Construction management system with The working machine moves in a direction parallel to the reference plane by operating an operating device.
The construction management system according to claim 1. The work implement display data includes an indicator indicating a cutting edge of the work implement,
The display control unit simultaneously displays the two-dimensional design data and the work implement display data on the display device at the same scale in the same coordinate system;
The construction management system according to claim 1 or claim 2. The two-dimensional design data includes guide data that defines an excavation range.
The construction management system according to any one of claims 1 to 3. The display control unit causes the display device to display target excavation depth data from the reference plane.
The construction management system according to any one of claims 1 to 4. A work machine position data acquisition unit for acquiring work machine position data indicating the position of the work machine from a work machine position detector;
The work implement position data acquisition unit corrects the work implement position data based on plane rectangular coordinate system data indicating predetermined latitude and longitude and geoid data indicating altitude,
Displayed on the display device based on the positions of at least two reference points of the construction target detected using the work implement and the positions of at least two reference points of the design drawing of the construction target. Adjusting the scale of the two-dimensional design data;
The construction management system according to any one of claims 1 to 5.   A work machine comprising the construction management system according to any one of claims 1 to 6. Displaying on the display device two-dimensional design data parallel to a reference plane defined for the construction object and work machine display data indicating at least a part of the work machine capable of excavating the construction object;
Obtaining input excavation depth data generated by operating the input device;
Based on the input excavation depth data, outputting a control signal for controlling the movement of the work implement in the depth direction of the construction target orthogonal to the reference plane;
Construction management method including

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